KYOTO HEIAN CAPITAL 4D IMADAS 2015 FOR 3D CITY MODELING

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1 KYOTO HEIAN CAPITAL 4D IMADAS 2015 FOR 3D CITY MODELING Hiroyuki Hasegawa 1, Mahesh Gogate 1 and Kengo Miyahara 2 1 Center for South East Asian Studies (CSEAS) Kyoto University, 46, Shimoadachi-cho, Yoshida Sakyo-ku, Kyoto , Japan, hasegawa@geonetz.com 2 Archaeological Research Center of Kyoto City, Motoisa-machi, Imadegawa-dori Omiya- Higashi-iru Kamigyo-ku, Kyoto Japan kengo@kyoto-arc.or.jp KEY WORDS: Kyoto Heian Capital plan, Modern trigonometric mappings in 19 th Century, 1940s aerial photos bundle adjustment for 3D - diorama, 3D city modeling for Construction Infrastructure Modeling ABSTRACT: Kyoto Heian Capital plans were well documented by historians and excavated by archaeologists for many decades, with historical maps of several eras. Reconstructed capital plans are now being transformed into World geodetic datum system, using 3D-CAD approaches. Modern trigonometric and plane table surveying for mapping were applied in 1890s,1910s and 1930s for urban planning. The first stage of Japanese cadastral mapping with cadastral books were organized in Tokyo, Osaka and Kyoto cities in 1912 by prefectural and city administrations. We have created 3D-diorama of Kyoto city in 1946, using aerial photogrammetry - bundle adjustment and stereo matching in ortho photo - mosaicked image production. For Construction Infrastructure Modeling to realize resilient landscape of the country, we are to apply Infrastructure Modeling software for 3D city modeling of Kyoto city 4D-Image Map Archive Designed Area Studies ( Kyoto 4D-IMADAS). 1. OLD MAP PROJECTIONS AND 4D IMAGE MAP ARCHIVE IN ST CENTURIES After opening the country, the late 19 th century, Japanese modern regime and military organizations started mappings, trigonometric control point surveyings for national land information and taxation. Shogun era from 17 th to 19 th centuries conducted feudal territory land mappings three times nationwide with domestic primitive surveying devices and Japanese own arithmetic and mathematics. Learning from European scientific references in physics and astronomy, shogun government organized mapping projects along coast lines and major roads for some decades. We have those technological legacy as Inoh s map series in different scales on durable excellent Japanese papers. Map projections are derived from Germany on Bessel 1841 ellipsoid and polyhedron projection with plane table surveying. 1.1 Tadataka Inoh s 200K maps in to Japan Geodetic Datum 2000 maps Tadataka Inoh s medium scale maps were used as basic maps for many decades combined with trigonometric geodetic network projects nationwide. Those maps were rearranged in 200K maps of longitude 1degree x latitude 40 minutes, in the years from 1887 to 1893, before Sino-Japanese war in and Russian-Japanese war in

usability, with many geographical names and boundaries as historical

2 About 100 map sheets are now summarized on 3D-CAD in latitude-longitude coordinate system as georeferenced image maps. The comparison with year 2000 coastal lines show us production accuracy and usability, with many geographical names and boundaries as historical reality before aerial photogrammetry. Figure s-200K maps(100 image maps) year 2000 map coast lines (in blue) in JGD06 zone Figure s-200K maps-osaka Awaji coast lines

Figure 3. 1880s-200K maps - Kyoto Biwako-lake coast lines 1.

completed two times in 1890 and 1912, without and with trigonometric geodetic coordinates.

Bessel1841 to GRS80 ellipsoids of ITRF94 geodetic datum.

3 Figure s-200K maps - Kyoto Biwako-lake coast lines 1.2 Modern 20K maps of Kyoto City area in 1890 and 1912 For Kyoto City area, large scale mappings had been completed two times in 1890 and 1912, without and with trigonometric geodetic coordinates. Those maps are now connected to the unified World geodetic datum, using ellipsoidal transformation from Bessel1841 to GRS80 ellipsoids of ITRF94 geodetic datum. These image maps are representative historical reality of the period early 20 th century. Figure : maps and prefectural boundaries and 1889: maps of Imperial palace Figure : maps and prefectural boundaries 1910: enlarged maps of Imperial palace

1.3 Urban planning base maps of 3K in 1936 As the first large scale urban planning base maps, Kyoto city office produced 1/3,000 maps over the city area in latitude-longitude coordinate system, using

4 1.3 Urban planning base maps of 3K in 1936 As the first large scale urban planning base maps, Kyoto city office produced 1/3,000 maps over the city area in latitude-longitude coordinate system, using plane table surveying, which was to be applied for polyhedron map projection. This mapping was supported by authentic trigonometric network and levelling network adjustments. This series of large scale maps are now succeeded to new transverse Mercator projection via datum transformation, to reconfigure national base map grids of world geodetic datum system Figure : Map grids 1936:Map grids 1936: Map images of Imperial palace 1.4 Recent 2500 urban planning maps and 10K-25K topographic maps in st centuries As data source of National Spatial Data Infrastructure, 1/2500 urban planning maps are digitalized in specified map symbols in public surveying and mapping projects. With BIM: Building Information Management or CIM: Civil Infrastructure Modeling, map features are modelled in 3D-CAD system. For these applications, especially photogrammetric 3D-modeling and mensuration are combined with point cloud surface modeling like TIN and Grid surfaces. Digital Elevation Models are well draped by orthogonally projected images for designing and representation. 3D image models like 3D-diorama could be used as measurable and designable objects in 3D-CAD system. Such 3D-diorama could be applied on topographic maps for landscape designing and city planning. 2. AERIAL PHOTOGRAMMETRY IN KYOTO CITY AREA 3D image models are one of the major components in 4D Image Map Archive. Aerial photogrammetry has evolved from 2D-planimetric topographic mapping to 3D image model mensuration technology on PC with 3D-CAD system for Landscape modeling and designing. Now many types of aerial photos are available in different decades along with photogrammetric developments towards digital camera and advanced orientations and DEM Ortho - Mosaic production are combined with 3D-diorama for mensuration and landscape-designing K-40K aerial photos taken by US aerial cameras Even though there may be valuable military aerial photos before the world war II, current available aerial photos of Japan were taken by US Air Force nationwide in before Korean war from From

standpoint of ordinary photogrammetric engineers, in quality duplicated paper prints lack fiducial marks, calibrated focal length and lens distortion corrections for interior

After having reconfigured the model orientation theory based on spatial similarity transformation, we could succeed in acquiring 3D models of exterior orientation and bundle

2 Bundle triangulation of 1946 aerial photos and 3D image modeling and 3D-diorama In 1946 aerial photos were taken by commonly used 5 lens camera in 1: 10,000 and 1: 40,000

5 standpoint of ordinary photogrammetric engineers, in quality duplicated paper prints lack fiducial marks, calibrated focal length and lens distortion corrections for interior orientation. After having reconfigured the model orientation theory based on spatial similarity transformation, we could succeed in acquiring 3D models of exterior orientation and bundle adjustment, after clearing subsistent obstacles. 2.2 Bundle triangulation of 1946 aerial photos and 3D image modeling and 3D-diorama In 1946 aerial photos were taken by commonly used 5 lens camera in 1: 10,000 and 1: 40,000 photo scales. After having scanned paper prints, tie point measurement for bundle adjustment was processed on 3Dphotogrammetric station: Summit Evolution (DATEM), and MATCH-AT (INPHO) to construct 3D image models on 3D PC-display-3D-CAD for mensuration. These 3D image models are used for 3D diorama representation. Figure 7. USAF exposure points in 1946 ( Index map and adjusted coordinates ) Figure 8. Kyoto University 1946 stereo model Image Map on AutoCAD Map

1946 aerial photos + 5m DEM for Kyoto University 3D diorama 2.

modeling and 3D-diorama In 2003 large scale aerial photos were

triangulation for 3D image modeling on Summit Evolution and

6 Figure 9. CAD-Globe (Autodesk Infraworks360) : Japan archipelagos Figure aerial photos + 5m DEM for Kyoto University 3D diorama 2.3 Bundle triangulation of 2003 aerial photos and 3D image modeling and 3D-diorama In 2003 large scale aerial photos were taken by Film Camera Wild RC30, and adjusted with bundle triangulation for 3D image modeling on Summit Evolution and 3D-diorama on Autodesk Infraworks360, to represent current historical reality. Figure maps-2003Ortho-2009maps and 2003Ortho-Mosaic-enlarged

Figure 12. Kyoto 2003 aerial photos 3D image model and 2009-25K image map 2.

building for digital reservation of national treasures, as World Heritage City project. The contents were mostly artifacts and artistic products, except maps and antique maps.

CAD-Globe is now created in CSEAS Kyoto University.

7 Figure 12. Kyoto 2003 aerial photos 3D image model and K image map 2.4 4D-Image Map Archive and 3D-diorama Modeling for Kyoto city 3D image models In Kyoto City, in 2000s Digital Archive Research Center was established in front of Kyoto Station building for digital reservation of national treasures, as World Heritage City project. The contents were mostly artifacts and artistic products, except maps and antique maps. 4D Image Map Archive could start from map collections, map catalogues for Internet viewing and scientific retrievals for historians and geographers, new concept of 3D Image Map on CAD-Globe is now created in CSEAS Kyoto University. For configuration of 4D Image Map Archive, we need the technology of aerial survey extended to the most advanced photogrammetry with satellite Image 3D modeling and Unmanned Aviation System(drone). So we call this approach as 4D- Image Map Archive Designed Aerial Survey. We start from Kyoto city 3D image models as historical reality in different time periods. Figure OrthoMosaic 3D-diorama and K maps 3D-diorama

8 3. KYOTO HEIAN CAPITAL PLAN : DESIGN AND EXCAVATED REALITY In 8 th century of ancient eras of Japanese history, Kyoto Heian Capital plan was well organized after previous capital plans and referred to Tang dynasty of China, with rectangular symmetrical location of unit blocks, configuring imperial palace, governmental facilities and aristocrat-citizen residential sites, characterized by the central major street of 84m.The designed plan, so called Jyo (streetwise block)- Bou (avenuewise block), had been kept as standard for many centuries during construction and reconstruction projects. The historical reality has been revealed by archaeological excavations in these decades. 3.1 Capital plan documentation in 8 th century Engishiki- laws and ordinances; rules and regulations of Heian dynasty issued in 8 th century- designed and defined the capital plan called Kyotei explicitly in old scale system. As fundamental sizes of several kinds of roads and blocks were expressed in Shaku - Jyou - Chou scales, we could define Jyo-Bou plan as a whole for the entire area of Heian Capital in old scale system. To put the capital plan on the existing maps in different eras and dynasties, we have to refer to not only documental evidences but also excavated reality in metric system. 3.2 Excavated Capital zones and facilities Kyoto city archaeological research institute was established for archaeological researches and is responsible to reveal the historical status of Heian Capital with Capital plan. Since most of buried ruins of Heian Capital are covered by existing buildings and roads, excavation processes took for many years, even in partial areas. So major parameters to designate the designed capital plan onto the current coordinate system are as follows; (1) Scale factor of the scale systems between old and current metric scale (2) Origin of the rectangular capital plan, like the intersection of most southern road and the major central road, which could be measurable at excavation site. (3) Azimuthal angles of major central road (north-south) and street lines(west-east) Current results of the above mentioned parameters are shown as follows; (1) Old 1 Shaku = cm; 1 Jyou=10Shaku; 1Chou= 40 Jyou= m (2) Ox= -110,862.58m; Oy= -23,233.30m ( in Japan Geodetic Datum1952; Pl. Re. Co.No.6) (3) Azimuth= (from true north), which corresponds about 21m for 5km(N-S line) 3.3 3D reconstruction of Heian Capital plan on 3D-CAD system With explicit definition of Heian Capital plan, we have now configured a graphical expression of Heian Capital plan on 3D-CAD system, based on a graphical sketch from a description of Engishiki; historical official document, as shown in the following figures.

Figure 14. Heian-Capital Plan (Kunikazu Yamada), Plan basic map (in DWG) and 3D-diorama 3.

(Digital Elevation Model). This type of 3D-diorama could be designed, using civil engineering commands.

4D-Image Map Archive could be the database and working process for most of administrative applications. 4.

9 Figure 14. Heian-Capital Plan (Kunikazu Yamada), Plan basic map (in DWG) and 3D-diorama 3.4 Database retrieval and usage on Kyoto Heian Capital 4D- Image Map Archive After having transformed into the existing image map on 3D-CAD, the image maps are overlaid on DEM (Digital Elevation Model). This type of 3D-diorama could be designed, using civil engineering commands. This is the key aspect of BIM (Building Infrastructure Modeling) to realize landscape modeling for national resilient land projects. 4D-Image Map Archive could be the database and working process for most of administrative applications. 4. KYOTO HEIAN CAPITAL 4D-IMAGE MAP ARCHIVE PROJECT For more than 1,000 years from A.D. 794 to A.D. 1868, Kyoto was the national capital city called Heian Capital, and registered as a World Heritage in 1994 at 12 th centennial year. Based on the collections of CSEAS Kyoto University; Map Library, we could overview the goal of 4D Image Map Archive for not only documental collections as an archive but also designing materials for landscape representation of city infrastructure.

4.1 Contribution of the state of the art technology; evolution of Aerial Survey As 3D image modelling technology, photogrammetry has been the leader of mensuration.

Comparing with high resolution satellite imagery and LIDAR point cloud imagery, photogrammetry with CMOS type digital cameras shows us advanced potentials; Figure 16.

2 Urban cadastral survey with 1cm accuracy real time satellite surveying In Japan, especially in Kyoto, cadastral survey recommended by FIG( International Federation of Surveyors) with Cadastre2014

10 4.1 Contribution of the state of the art technology; evolution of Aerial Survey As 3D image modelling technology, photogrammetry has been the leader of mensuration. Topographic mapping for military use characterized the key aspects, like orientations, aerial triangulation and image stereo matching for Digital Elevation Modeling. Comparing with high resolution satellite imagery and LIDAR point cloud imagery, photogrammetry with CMOS type digital cameras shows us advanced potentials; Figure 16. High precision Helicopter Photogrammetry : CMOS digital camera 4.2 Urban cadastral survey with 1cm accuracy real time satellite surveying In Japan, especially in Kyoto, cadastral survey recommended by FIG( International Federation of Surveyors) with Cadastre2014 or German GIS (AAA-Schema) are far from a reality, and administration stick to its standard mode of cadastral survey. The most critical aspects are poor accuracy of Basic Ground Control Points, time consuming work flows and incomplete surveying adjustments, which are described in official specifications. We could propose the solution for the advanced cadastral survey with photogrammetry. 4.3 Connection with digital archiving initiatives As we have made proposals of official specifications to the national administrations with experiment reports, we could organize such public projects on the practical guidelines now. For this kind of purposes, we are preparing for 4D Image Map Archive Designed Aerial Survey, 4D- IMADAS for short. IMADAS sounds like it is now in Japanese. For these initiatives, we could start from CSEAS Kyoto University; Map Library and GIS Laboratory, with treasures of map collections and GIS software resources. Acknowledgement This research paper has been prepared and submitted for the ACRS 2015, along with research project of CSEAS, Kyoto University, for establishing 4D-IMADAS approaches. Also Authors would like to express deep gratitude to Professor Dr. Yasuyuki Kono ; Director of CSEAS for his powerful support to this research project, from the planning phase to complete tentative sample models. References: 1. NahbereichsPhotogrammetrie 2000; Thomas Luhmann 2. Map Projections-A Working Manual 1987 ; John P. Snyder 3. Engishiki- laws and ordinances; rules and regulations of Heian dynasty; issued in 927 and enforced in 967

NEPAL EARTHQUAKE 4D-IMADAS 2015 FOR RECONSTRUCTION INITIATIVE - FROM REMOTE SENSING TO 3D REMOTE MODELING -

NEPAL EARTHQUAKE 4D-IMADAS 2015 FOR RECONSTRUCTION INITIATIVE - FROM REMOTE SENSING TO 3D REMOTE MODELING - - Hiroyuki Hasegawa - Center for South East Asian Studies (CSEAS) Kyoto University, - 46, Shimoadachi-cho,